docs: def _check_valid_translation(self, translation):
          """Checks that the translation vector is valid.
          """
          if not isinstance(translation, np.ndarray) or not np.issubdtype(translation.dtype, np.number):
              raise ValueError('Translation must be specified as numeric numpy array')
  
          t = translation.squeeze()
          if len(t.shape) != 1 or t.shape[0] != 3:
              raise ValueError('Translation must be specified as a 3-vector, 3x1 ndarray, or 1x3 ndarray')